English

DTIC ADA141769: Robotic Seam Tracking.

The principles of contact and non-contact sensors for robotic seam tracking are reviewed. Non-contacting sensors are based on either an electromagnetic or an acoustic principle. Electromagnetic sensors in the low frequency regime induce eddy currents which can be used for the detection of surface discontinuities. In the high frequency regime (visual spectrum), laser light stripe systems in connection with vision cameras can be successfully used for seam location. Other optical systems and infrared thermography are briefly described. Alternatively, acoustic systems using time of flight measurements can be applied to the characterization of seams. Finally, through the arc systems and their limitations for seam tracking are outlined. The need for off-line programming techniques for path planning with seam tracking devices is emphasized. (Author)

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